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<div class="title">real_disentanglement_platform.hpp</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;</div><div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="preprocessor">#pragma once</span></div><div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;</div><div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;</div><div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="preprocessor">#include &lt;Eigen/Eigen&gt;</span></div><div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="preprocessor">#include &lt;<a class="code" href="common__header_8hpp.html">blmc_robots/common_header.hpp</a>&gt;</span></div><div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="preprocessor">#include &lt;math.h&gt;</span></div><div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;</div><div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="preprocessor">#include &lt;<a class="code" href="blmc__joint__module_8hpp.html">blmc_robots/blmc_joint_module.hpp</a>&gt;</span></div><div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="preprocessor">#include &lt;<a class="code" href="slider_8hpp.html">blmc_robots/slider.hpp</a>&gt;</span></div><div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;</div><div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="preprocessor">#include &lt;robot_interfaces/disentanglement_platform.hpp&gt;</span></div><div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;</div><div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;</div><div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;</div><div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;<span class="keyword">namespace </span><a class="code" href="namespaceblmc__robots.html">blmc_robots</a></div><div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;{</div><div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;</div><div class="line"><a name="l00030"></a><span class="lineno"><a class="line" href="classblmc__robots_1_1OldDisentanglementPlatform.html">   30</a></span>&#160;<span class="keyword">class </span><a class="code" href="classblmc__robots_1_1OldDisentanglementPlatform.html">OldDisentanglementPlatform</a>: <span class="keyword">public</span> <a class="code" href="classblmc__robots_1_1BlmcJointModules.html">BlmcJointModules</a>&lt;2&gt;</div><div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;{</div><div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;<span class="keyword">public</span>:</div><div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;    <span class="keyword">enum</span> JointIndexing {base, tip, joint_count};</div><div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;</div><div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;    <a class="code" href="classblmc__robots_1_1OldDisentanglementPlatform.html">OldDisentanglementPlatform</a>(<span class="keyword">const</span> std::array&lt;std::shared_ptr&lt;blmc_drivers::MotorInterface&gt;, 2&gt;&amp; motors,</div><div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;           <span class="keyword">const</span> std::array&lt;std::shared_ptr&lt;blmc_drivers::AnalogSensorInterface&gt;, 2&gt;&amp; sliders):</div><div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;        <a class="code" href="classblmc__robots_1_1BlmcJointModules.html">BlmcJointModules&lt;2&gt;</a>(motors,</div><div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;                0.02 * Eigen::Vector2d::Ones(),</div><div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;                9.0 * Eigen::Vector2d::Ones(),</div><div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;                Eigen::Vector2d::Zero(),</div><div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;                2.0 * Eigen::Vector2d::Ones()),</div><div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;        sliders_(sliders,</div><div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;                Eigen::Vector2d::Zero(),</div><div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;                Eigen::Vector2d::Ones()) {}</div><div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;</div><div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;    <span class="keyword">const</span> <a class="code" href="namespaceblmc__robots.html#acb6916bc8c9fe9d98c484fd4cc201447">Eigen::Vector2d</a> get_slider_positions()</div><div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;    {</div><div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;        <span class="keywordflow">return</span> sliders_.get_positions();</div><div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;    }</div><div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;</div><div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;<span class="keyword">private</span>:</div><div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;</div><div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;    <a class="code" href="classblmc__robots_1_1Sliders.html">Sliders&lt;2&gt;</a> sliders_;</div><div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;};</div><div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;</div><div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;</div><div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;</div><div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;</div><div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;</div><div class="line"><a name="l00060"></a><span class="lineno"><a class="line" href="classblmc__robots_1_1RealDisentanglementPlatform.html">   60</a></span>&#160;<span class="keyword">class </span><a class="code" href="classblmc__robots_1_1RealDisentanglementPlatform.html">RealDisentanglementPlatform</a>:</div><div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;        <span class="keyword">public</span> <a class="code" href="classblmc__robots_1_1BlmcJointModules.html">BlmcJointModules</a>&lt;3&gt;,</div><div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;        <span class="keyword">public</span> robot_interfaces::DisentanglementPlatform</div><div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;{</div><div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;<span class="keyword">public</span>:</div><div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;    <span class="keyword">typedef</span> Eigen::Vector3d <a class="code" href="classblmc__robots_1_1BlmcJointModules.html#abaff382c6fd4b494ec0c17498d94919e">Vector</a>;</div><div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;</div><div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;</div><div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;    <span class="keyword">typedef</span> std::array&lt;std::shared_ptr&lt;blmc_drivers::MotorInterface&gt;, 3&gt; Motors;</div><div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;    <span class="keyword">typedef</span> std::array&lt;std::shared_ptr&lt;blmc_drivers::CanBusMotorBoard&gt;, 2&gt;</div><div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;    MotorBoards;</div><div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;</div><div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;    <a class="code" href="classblmc__robots_1_1RealDisentanglementPlatform.html">RealDisentanglementPlatform</a>(<span class="keyword">const</span> MotorBoards&amp; motor_boards):</div><div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;        <a class="code" href="classblmc__robots_1_1RealDisentanglementPlatform.html">RealDisentanglementPlatform</a>(create_motors(motor_boards))</div><div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;    {</div><div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;        motor_boards_ = motor_boards;</div><div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;</div><div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;        calibrate();</div><div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;        pause_motors();</div><div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;    }</div><div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;</div><div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;<span class="keyword">private</span>:</div><div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;    <a class="code" href="classblmc__robots_1_1RealDisentanglementPlatform.html">RealDisentanglementPlatform</a>(<span class="keyword">const</span> Motors&amp; motors):</div><div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;        <a class="code" href="classblmc__robots_1_1BlmcJointModules.html">BlmcJointModules&lt;3&gt;</a>(motors,</div><div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;                0.02 * Vector::Ones(),</div><div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;                <a class="code" href="classblmc__robots_1_1BlmcJointModules.html#abaff382c6fd4b494ec0c17498d94919e">Vector</a>(9.79 * 9, 9, 9),</div><div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;                Vector::Zero(),</div><div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;                2.0 * Vector::Ones())</div><div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;    {</div><div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;</div><div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;</div><div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;    }</div><div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;</div><div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;<span class="keyword">public</span>:</div><div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;    Vector <a class="code" href="classblmc__robots_1_1BlmcJointModules.html#aeefc9487da9aafde41da790968a8165e">get_measured_torques</a>()<span class="keyword"> const</span></div><div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;<span class="keyword">    </span>{</div><div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;        <span class="keywordflow">return</span> <a class="code" href="classblmc__robots_1_1BlmcJointModules.html#aeefc9487da9aafde41da790968a8165e">BlmcJointModules&lt;3&gt;::get_measured_torques</a>();</div><div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;    }</div><div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;</div><div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;    Vector <a class="code" href="classblmc__robots_1_1BlmcJointModules.html#af739948e89e5192eb853c7c5dcb9e87f">get_measured_angles</a>()<span class="keyword"> const</span></div><div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;<span class="keyword">    </span>{</div><div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;        <span class="keywordflow">return</span> <a class="code" href="classblmc__robots_1_1BlmcJointModules.html#af739948e89e5192eb853c7c5dcb9e87f">BlmcJointModules&lt;3&gt;::get_measured_angles</a>();</div><div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;    }</div><div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;</div><div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;    Vector <a class="code" href="classblmc__robots_1_1BlmcJointModules.html#a87320890796f67050faa4fa506d5142d">get_measured_velocities</a>()<span class="keyword"> const</span></div><div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;<span class="keyword">    </span>{</div><div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;        <span class="keywordflow">return</span> <a class="code" href="classblmc__robots_1_1BlmcJointModules.html#a87320890796f67050faa4fa506d5142d">BlmcJointModules&lt;3&gt;::get_measured_velocities</a>();</div><div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;    }</div><div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;</div><div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;    <span class="keywordtype">void</span> pause_motors()</div><div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;    {</div><div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;        motor_boards_[0]-&gt;pause_motors();</div><div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;        motor_boards_[1]-&gt;pause_motors();</div><div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;    }</div><div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;</div><div class="line"><a name="l00115"></a><span class="lineno"><a class="line" href="classblmc__robots_1_1RealDisentanglementPlatform.html#afcf20641b6003d9f1089a3854b5b3a3a">  115</a></span>&#160;    <span class="keywordtype">void</span> <a class="code" href="classblmc__robots_1_1RealDisentanglementPlatform.html#afcf20641b6003d9f1089a3854b5b3a3a">wait_for_execution</a>()<span class="keyword"> const</span></div><div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;<span class="keyword">    </span>{</div><div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;    }</div><div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;</div><div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;</div><div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;    <span class="keyword">static</span> MotorBoards</div><div class="line"><a name="l00124"></a><span class="lineno"><a class="line" href="classblmc__robots_1_1RealDisentanglementPlatform.html#af9282c8f77cff5d4a526ef1bad9e6059">  124</a></span>&#160;    <a class="code" href="classblmc__robots_1_1RealDisentanglementPlatform.html#af9282c8f77cff5d4a526ef1bad9e6059">create_motor_boards</a>(<span class="keyword">const</span> std::string&amp; can_0, <span class="keyword">const</span> std::string&amp; can_1)</div><div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;    {</div><div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;        <span class="comment">// setup can buses -----------------------------------------------------</span></div><div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;        std::array&lt;std::shared_ptr&lt;blmc_drivers::CanBus&gt;, 2&gt; can_buses;</div><div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;        can_buses[0] = std::make_shared&lt;blmc_drivers::CanBus&gt;(can_0);</div><div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;        can_buses[1] = std::make_shared&lt;blmc_drivers::CanBus&gt;(can_1);</div><div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;</div><div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;        <span class="comment">// set up motor boards -------------------------------------------------</span></div><div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;        MotorBoards motor_boards;</div><div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;        motor_boards[0] =</div><div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;                std::make_shared&lt;blmc_drivers::CanBusMotorBoard&gt;(can_buses[0]);</div><div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;        motor_boards[1] =</div><div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;                std::make_shared&lt;blmc_drivers::CanBusMotorBoard&gt;(can_buses[1]);</div><div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;</div><div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;        motor_boards[0]-&gt;wait_until_ready();</div><div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;        motor_boards[1]-&gt;wait_until_ready();</div><div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;</div><div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;        <span class="keywordflow">return</span> motor_boards;</div><div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;    }</div><div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;</div><div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;</div><div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;<span class="keyword">private</span>:</div><div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;    <span class="keywordtype">void</span> apply_torques(<span class="keyword">const</span> Vector&amp; desired_torques)</div><div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;    {</div><div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;        <a class="code" href="classblmc__robots_1_1BlmcJointModules.html#ac7dba81727847238fc4c42b7dca6a0ea">BlmcJointModules&lt;3&gt;::set_torques</a>(desired_torques);</div><div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;        <a class="code" href="classblmc__robots_1_1BlmcJointModules.html#a26d4d675142bc783c1f983d135a41a09">BlmcJointModules&lt;3&gt;::send_torques</a>();</div><div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;    }</div><div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;</div><div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;</div><div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;    MotorBoards motor_boards_;</div><div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;</div><div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;    <span class="keyword">static</span> Motors</div><div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;    create_motors(<span class="keyword">const</span> MotorBoards&amp; motor_boards)</div><div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;    {</div><div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;        <span class="comment">// set up motors -------------------------------------------------------</span></div><div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;        Motors motors;</div><div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;        motors[0]  = std::make_shared&lt;blmc_drivers::Motor&gt;(motor_boards[0], 0);</div><div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;        motors[1]  = std::make_shared&lt;blmc_drivers::Motor&gt;(motor_boards[0], 1);</div><div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;        motors[2]  = std::make_shared&lt;blmc_drivers::Motor&gt;(motor_boards[1], 0);</div><div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;</div><div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;        <span class="keywordflow">return</span> motors;</div><div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;    }</div><div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;</div><div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;</div><div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;</div><div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;    <span class="keywordtype">void</span> calibrate()</div><div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;    {</div><div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;        real_time_tools::Spinner spinner;</div><div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;        spinner.set_period(0.001);</div><div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;        std::vector&lt;Vector&gt; running_velocities(1000);</div><div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;        <span class="keywordtype">int</span> running_index = 0;</div><div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;        Vector sum = Vector::Zero();</div><div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;        <span class="keywordflow">while</span>(running_index &lt; 3000 || (sum.maxCoeff() / 1000.0 &gt; 0.001))</div><div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160;        {</div><div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;            Vector torques = -1 * get_max_torques();</div><div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;            torques(table) = 0; <span class="comment">// we do not calibrate the table since it has no stop</span></div><div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160;            torques(tip) = -torques(tip);</div><div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;</div><div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;            constrain_and_apply_torques(torques);</div><div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;            Vector velocities = <a class="code" href="classblmc__robots_1_1BlmcJointModules.html#a87320890796f67050faa4fa506d5142d">get_measured_velocities</a>();</div><div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160;            <span class="keywordflow">if</span> (running_index &gt;= 1000)</div><div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160;                sum = sum - running_velocities[running_index % 1000];</div><div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160;            running_velocities[running_index % 1000] = velocities;</div><div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160;            sum = sum + velocities;</div><div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160;            running_index++;</div><div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160;            spinner.spin();</div><div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160;        }</div><div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160;        <span class="keywordtype">int</span> count = 0;</div><div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160;        <span class="keywordtype">int</span> linearly_decrease_time_steps = 1000;</div><div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160;        <span class="keywordtype">int</span> zero_torque_time_steps = 500;</div><div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160;        <span class="keywordflow">while</span>(count &lt; linearly_decrease_time_steps)</div><div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160;        {</div><div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160;            Vector torques = ((linearly_decrease_time_steps -</div><div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160;                    count + 0.0) / linearly_decrease_time_steps) *</div><div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160;                    get_max_torques() * -1;</div><div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160;            torques(table) = 0; <span class="comment">// we do not calibrate the table since it has no stop</span></div><div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160;            torques(tip) = -torques(tip);</div><div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160;</div><div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160;</div><div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160;            constrain_and_apply_torques(torques);</div><div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160;            count++;</div><div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160;            spinner.spin();</div><div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160;        }</div><div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160;        count = 0;</div><div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160;        <span class="keywordflow">while</span>(count &lt; zero_torque_time_steps)</div><div class="line"><a name="l00228"></a><span class="lineno">  228</span>&#160;        {</div><div class="line"><a name="l00229"></a><span class="lineno">  229</span>&#160;            Vector torques = Vector::Zero();</div><div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160;            constrain_and_apply_torques(torques);</div><div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160;            count++;</div><div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160;            spinner.spin();</div><div class="line"><a name="l00233"></a><span class="lineno">  233</span>&#160;        }</div><div class="line"><a name="l00234"></a><span class="lineno">  234</span>&#160;        Vector angle_offsets = <a class="code" href="classblmc__robots_1_1BlmcJointModules.html#af739948e89e5192eb853c7c5dcb9e87f">get_measured_angles</a>();</div><div class="line"><a name="l00235"></a><span class="lineno">  235</span>&#160;        angle_offsets(table) = 0;</div><div class="line"><a name="l00236"></a><span class="lineno">  236</span>&#160;</div><div class="line"><a name="l00237"></a><span class="lineno">  237</span>&#160;        Vector zero_angles_relative_to_joint_stops(0.0, 0.0, -0.506);</div><div class="line"><a name="l00238"></a><span class="lineno">  238</span>&#160;        <a class="code" href="classblmc__robots_1_1BlmcJointModules.html#abc94960666d33b6a5071d4cf25f7794d">set_zero_angles</a>(angle_offsets + zero_angles_relative_to_joint_stops);</div><div class="line"><a name="l00239"></a><span class="lineno">  239</span>&#160;    }</div><div class="line"><a name="l00240"></a><span class="lineno">  240</span>&#160;};</div><div class="line"><a name="l00241"></a><span class="lineno">  241</span>&#160;</div><div class="line"><a name="l00242"></a><span class="lineno">  242</span>&#160;} <span class="comment">// namespace blmc_robots</span></div><div class="ttc" id="classblmc__robots_1_1BlmcJointModules_html_abaff382c6fd4b494ec0c17498d94919e"><div class="ttname"><a href="classblmc__robots_1_1BlmcJointModules.html#abaff382c6fd4b494ec0c17498d94919e">blmc_robots::BlmcJointModules&lt; 2 &gt;::Vector</a></div><div class="ttdeci">Eigen::Matrix&lt; double, COUNT, 1 &gt; Vector</div><div class="ttdoc">Defines a static Eigen vector type in order to define the interface. </div><div class="ttdef"><b>Definition:</b> blmc_joint_module.hpp:328</div></div>
<div class="ttc" id="classblmc__robots_1_1BlmcJointModules_html_abc94960666d33b6a5071d4cf25f7794d"><div class="ttname"><a href="classblmc__robots_1_1BlmcJointModules.html#abc94960666d33b6a5071d4cf25f7794d">blmc_robots::BlmcJointModules&lt; 2 &gt;::set_zero_angles</a></div><div class="ttdeci">void set_zero_angles(const Vector &amp;zero_angles)</div><div class="ttdoc">Set the zero_angles. </div><div class="ttdef"><b>Definition:</b> blmc_joint_module.hpp:474</div></div>
<div class="ttc" id="classblmc__robots_1_1BlmcJointModules_html_af739948e89e5192eb853c7c5dcb9e87f"><div class="ttname"><a href="classblmc__robots_1_1BlmcJointModules.html#af739948e89e5192eb853c7c5dcb9e87f">blmc_robots::BlmcJointModules&lt; 2 &gt;::get_measured_angles</a></div><div class="ttdeci">Vector get_measured_angles() const</div><div class="ttdoc">Get the measured joint angles. </div><div class="ttdef"><b>Definition:</b> blmc_joint_module.hpp:441</div></div>
<div class="ttc" id="classblmc__robots_1_1RealDisentanglementPlatform_html_afcf20641b6003d9f1089a3854b5b3a3a"><div class="ttname"><a href="classblmc__robots_1_1RealDisentanglementPlatform.html#afcf20641b6003d9f1089a3854b5b3a3a">blmc_robots::RealDisentanglementPlatform::wait_for_execution</a></div><div class="ttdeci">void wait_for_execution() const </div><div class="ttdef"><b>Definition:</b> real_disentanglement_platform.hpp:115</div></div>
<div class="ttc" id="slider_8hpp_html"><div class="ttname"><a href="slider_8hpp.html">slider.hpp</a></div></div>
<div class="ttc" id="classblmc__robots_1_1OldDisentanglementPlatform_html"><div class="ttname"><a href="classblmc__robots_1_1OldDisentanglementPlatform.html">blmc_robots::OldDisentanglementPlatform</a></div><div class="ttdoc">The OldRealDisentanglementPlatform class implements the control of the test bench containing 8 motors...</div><div class="ttdef"><b>Definition:</b> real_disentanglement_platform.hpp:30</div></div>
<div class="ttc" id="classblmc__robots_1_1BlmcJointModules_html"><div class="ttname"><a href="classblmc__robots_1_1BlmcJointModules.html">blmc_robots::BlmcJointModules</a></div><div class="ttdoc">This class defines an interface to a collection of BLMC joints. </div><div class="ttdef"><b>Definition:</b> blmc_joint_module.hpp:321</div></div>
<div class="ttc" id="blmc__joint__module_8hpp_html"><div class="ttname"><a href="blmc__joint__module_8hpp.html">blmc_joint_module.hpp</a></div></div>
<div class="ttc" id="classblmc__robots_1_1BlmcJointModules_html_aeefc9487da9aafde41da790968a8165e"><div class="ttname"><a href="classblmc__robots_1_1BlmcJointModules.html#aeefc9487da9aafde41da790968a8165e">blmc_robots::BlmcJointModules&lt; 2 &gt;::get_measured_torques</a></div><div class="ttdeci">Vector get_measured_torques() const</div><div class="ttdoc">Get the measured joint torques. </div><div class="ttdef"><b>Definition:</b> blmc_joint_module.hpp:425</div></div>
<div class="ttc" id="classblmc__robots_1_1RealDisentanglementPlatform_html_af9282c8f77cff5d4a526ef1bad9e6059"><div class="ttname"><a href="classblmc__robots_1_1RealDisentanglementPlatform.html#af9282c8f77cff5d4a526ef1bad9e6059">blmc_robots::RealDisentanglementPlatform::create_motor_boards</a></div><div class="ttdeci">static MotorBoards create_motor_boards(const std::string &amp;can_0, const std::string &amp;can_1)</div><div class="ttdef"><b>Definition:</b> real_disentanglement_platform.hpp:124</div></div>
<div class="ttc" id="classblmc__robots_1_1Sliders_html"><div class="ttname"><a href="classblmc__robots_1_1Sliders.html">blmc_robots::Sliders&lt; 2 &gt;</a></div></div>
<div class="ttc" id="namespaceblmc__robots_html_acb6916bc8c9fe9d98c484fd4cc201447"><div class="ttname"><a href="namespaceblmc__robots.html#acb6916bc8c9fe9d98c484fd4cc201447">blmc_robots::Vector2d</a></div><div class="ttdeci">Eigen::Matrix&lt; double, 2, 1 &gt; Vector2d</div><div class="ttdoc">Vector2d shortcut for the eigen vector of size 2. </div><div class="ttdef"><b>Definition:</b> common_header.hpp:28</div></div>
<div class="ttc" id="classblmc__robots_1_1BlmcJointModules_html_a26d4d675142bc783c1f983d135a41a09"><div class="ttname"><a href="classblmc__robots_1_1BlmcJointModules.html#a26d4d675142bc783c1f983d135a41a09">blmc_robots::BlmcJointModules::send_torques</a></div><div class="ttdeci">void send_torques()</div><div class="ttdoc">Send the registered torques to all modules. </div><div class="ttdef"><b>Definition:</b> blmc_joint_module.hpp:383</div></div>
<div class="ttc" id="common__header_8hpp_html"><div class="ttname"><a href="common__header_8hpp.html">common_header.hpp</a></div><div class="ttdoc">The hardware wrapper of the quadruped. </div></div>
<div class="ttc" id="classblmc__robots_1_1BlmcJointModules_html_a87320890796f67050faa4fa506d5142d"><div class="ttname"><a href="classblmc__robots_1_1BlmcJointModules.html#a87320890796f67050faa4fa506d5142d">blmc_robots::BlmcJointModules&lt; 2 &gt;::get_measured_velocities</a></div><div class="ttdeci">Vector get_measured_velocities() const</div><div class="ttdoc">Get the measured joint velocities. </div><div class="ttdef"><b>Definition:</b> blmc_joint_module.hpp:457</div></div>
<div class="ttc" id="classblmc__robots_1_1BlmcJointModules_html_ac7dba81727847238fc4c42b7dca6a0ea"><div class="ttname"><a href="classblmc__robots_1_1BlmcJointModules.html#ac7dba81727847238fc4c42b7dca6a0ea">blmc_robots::BlmcJointModules::set_torques</a></div><div class="ttdeci">void set_torques(const Vector &amp;desired_torques)</div><div class="ttdoc">Register the joint torques to be sent for all modules. </div><div class="ttdef"><b>Definition:</b> blmc_joint_module.hpp:396</div></div>
<div class="ttc" id="classblmc__robots_1_1RealDisentanglementPlatform_html"><div class="ttname"><a href="classblmc__robots_1_1RealDisentanglementPlatform.html">blmc_robots::RealDisentanglementPlatform</a></div><div class="ttdef"><b>Definition:</b> real_disentanglement_platform.hpp:60</div></div>
<div class="ttc" id="namespaceblmc__robots_html"><div class="ttname"><a href="namespaceblmc__robots.html">blmc_robots</a></div><div class="ttdef"><b>Definition:</b> blmc_joint_module.cpp:15</div></div>
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